1 #ifndef SimTK_UNITVEC_H 2 #define SimTK_UNITVEC_H 55 template <
class P,
int S>
69 : BaseVec( static_cast<const BaseVec&>(u) ) {}
74 : BaseVec( static_cast<const typename UnitVec<P,S2>::BaseVec&>(u) ) {}
86 UnitVec(
const RealP& x,
const RealP& y,
const RealP& z) : BaseVec(x,y,z)
103 { assert(0 <= axis && axis <= 2);
118 const BaseVec&
asVec3()
const {
return static_cast<const BaseVec&
>(*this);}
132 const TransposeType&
operator~()
const {
return *
reinterpret_cast<const TransposeType*
>(
this);}
135 TransposeType&
operator~() {
return *
reinterpret_cast<TransposeType*
>(
this);}
164 UnitVec(
const BaseVec& v,
bool) : BaseVec(v) {}
177 {
return *
reinterpret_cast<const UnitVec*
>(p); }
186 const int minAxis = u[0] <= u[1] ? (u[0] <= u[2] ? 0 : 2)
187 : (u[1] <= u[2] ? 1 : 2);
194 template <
class P,
int S1,
int S2>
inline bool 201 template <
class P,
int S1,
int S2>
inline bool 203 {
return !(u1==u2); }
211 template <
class P,
int S>
222 : BaseRow(static_cast<const BaseRow&>(u)) {}
227 : BaseRow(static_cast<const typename UnitRow<P,S2>::BaseRow&>(u)) { }
231 { BaseRow::operator=(static_cast<const BaseRow&>(u));
248 UnitRow(
const RealP& x,
const RealP& y,
const RealP& z)
254 { assert(0 <= axis && axis <= 2);
255 BaseRow::operator[](axis) = 1; }
258 const BaseRow&
asRow3()
const {
return static_cast<const BaseRow&
>(*this);}
272 const TransposeType&
operator~()
const {
return *
reinterpret_cast<const TransposeType*
>(
this);}
275 TransposeType&
operator~() {
return *
reinterpret_cast<TransposeType*
>(
this);}
283 const RealP&
operator[](
int i)
const {
return BaseRow::operator[](i); }
287 const RealP&
operator()(
int i)
const {
return BaseRow::operator()(i); }
304 UnitRow(
const BaseRow& v,
bool ) : BaseRow(v) { }
317 {
return *
reinterpret_cast<const UnitRow*
>(p); }
320 template <
class P,
int S>
325 const int minAxis = u[0] <= u[1] ? (u[0] <= u[2] ? 0 : 2)
326 : (u[1] <= u[2] ? 1 : 2);
334 template <
class P,
int S1,
int S2>
inline bool 341 template <
class P,
int S1,
int S2>
inline bool 343 {
return !(u1==u2); }
349 #endif // SimTK_UNITVEC_H_ UnitVec< P, 1 > perp() const
Return a new unit vector perpendicular to this one but otherwise arbitrary.
Definition: UnitVec.h:182
TAbs abs() const
Elementwise absolute value; that is, the return value has the same dimension as this Vec but with eac...
Definition: Vec.h:345
UnitRow(int axis)
Create a unit axis vector 100 010 001 given 0, 1, or 2.
Definition: UnitVec.h:253
static Vec< M, P, 1 > getNaN()
Return a Vec of the same length and element type as this one but with all elements set to NaN...
Definition: Vec.h:913
UnitRow(const RealP &x, const RealP &y, const RealP &z)
Create a unit row from explicitly specified measure numbers (x,y,z); requires expensive normalization...
Definition: UnitVec.h:248
TransposeType & operator~()
Return a writable reference to this UnitRow reinterpreted as a UnitVec; no computation requires since...
Definition: UnitVec.h:275
UnitVec< Real, 1 > UnitVec3
Definition: UnitVec.h:41
UnitVec(const CoordinateAxis &axis)
Implicit conversion from a coordinate axis XAxis, YAxis, or ZAxis to a UnitVec3. Does not require any...
Definition: UnitVec.h:91
Defines the CoordinateAxis and CoordinateDirection classes.
const E & operator[](int i) const
Select an element of this Vec and return a const reference to it.
Definition: Vec.h:594
UnitVec< double, 1 > dUnitVec3
Definition: UnitVec.h:46
This class is a Vec3 plus an ironclad guarantee either that:
Definition: UnitVec.h:40
const RealP & operator[](int i) const
Return one element of this unit row as a const reference; there is no corresponding writable index fu...
Definition: UnitVec.h:283
UnitVec(const Vec< 3, P, S2 > &v)
Explicit conversion from Vec of any stride to this UnitVec, requiring expensive normalization.
Definition: UnitVec.h:81
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
static const UnitRow & getAs(const RealP *p)
(Advanced) Reinterpret a given memory location as a UnitRow like this one, without checking – don't ...
Definition: UnitVec.h:316
UnitRow & operator=(const UnitRow &u)
Copy assignment does not require normalization.
Definition: UnitVec.h:230
UnitVec(const RealP &x, const RealP &y, const RealP &z)
Create a unit vector in the direction of the vector (x,y,z) whose measure numbers are supplied – thi...
Definition: UnitVec.h:86
A CoordinateDirection is a CoordinateAxis plus a direction indicating the positive or negative direct...
Definition: CoordinateAxis.h:244
UnitVec()
Default constructor initializes to all-NaN even in Release mode so that we maintain the above-promise...
Definition: UnitVec.h:64
bool operator!=(const UnitVec< P, S1 > &u1, const UnitVec< P, S2 > &u2)
Compare two UnitVec3 objects and return true unless they are exactly bitwise equal (not very useful)...
Definition: UnitVec.h:202
UnitVec(int axis)
Construct a unit axis vector 100 010 001 given 0,1, or 2; this is not an implicit conversion...
Definition: UnitVec.h:102
UnitVec(const UnitVec &u)
Copy constructor does not require normalization since we know the source is a unit vector...
Definition: UnitVec.h:68
UnitVec< P, 1 > abs() const
Return a new unit vector whose measure numbers are the absolute values of the ones here...
Definition: UnitVec.h:154
UnitRow(const UnitRow &u)
Copy constructor does not require normalization.
Definition: UnitVec.h:221
This class, along with its sister class CoordinateDirection, provides convenient manipulation of the ...
Definition: CoordinateAxis.h:53
bool operator==(const UnitVec< P, S1 > &u1, const UnitVec< P, S2 > &u2)
Compare two UnitVec3 objects for exact, bitwise equality (not very useful).
Definition: UnitVec.h:195
bool operator==(const UnitRow< P, S1 > &u1, const UnitRow< P, S2 > &u2)
Compare two UnitRow3 objects for exact, bitwise equality (not very useful).
Definition: UnitVec.h:335
UnitVec< P, 1 > operator-() const
Returns a new unit vector pointing in the opposite direction from this one.
Definition: UnitVec.h:128
const RealP & operator[](int i) const
Return one element of this unit vector as a const reference; there is no corresponding writable index...
Definition: UnitVec.h:143
UnitRow & operator=(const UnitRow< P, S2 > &u)
Copy assignment from UnitRow with different stride; no computation needed.
Definition: UnitVec.h:235
bool operator!=(const UnitRow< P, S1 > &u1, const UnitRow< P, S2 > &u2)
Compare two UnitRow3 objects and return true unless they are exactly bitwise equal (not very useful)...
Definition: UnitVec.h:342
UnitRow(const Row< 3, P, S2 > &v, bool)
(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized ve...
Definition: UnitVec.h:309
UnitRow(const Row< 3, P, S2 > &v)
Explicit conversion from Row of any stride to UnitRow, requiring expensive normalization.
Definition: UnitVec.h:244
UnitRow()
Definition: UnitVec.h:218
UnitRow(const BaseRow &v)
Explicit conversion from Row to UnitRow, requiring expensive normalization.
Definition: UnitVec.h:240
const E & operator()(int i) const
Same as const operator[] above.
Definition: Vec.h:597
const RealP & operator()(int i) const
Return one element of this unit row as a const reference; there is no corresponding writable index fu...
Definition: UnitVec.h:287
static const UnitVec & getAs(const RealP *p)
(Advanced) Reinterpret a given memory location as a UnitVec like this one, without checking – don't ...
Definition: UnitVec.h:176
Vec< 3, P, S > BaseVec
Definition: UnitVec.h:59
CoordinateAxis getAxis() const
This is the coordinate axis XAxis, YAxis, or ZAxis contained in this CoordinateDirection. Use getDirection() to determine whether this is the positive or negative direction.
Definition: CoordinateAxis.h:274
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:605
const BaseVec & asVec3() const
Return a reference to the underlying Vec3 (no copying here).
Definition: UnitVec.h:118
const TransposeType & operator~() const
Return a const reference to this unit vector re-expressed as a unit row; no computational cost...
Definition: UnitVec.h:132
const BaseRow & asRow3() const
Return a const reference to the Row3 underlying this UnitRow.
Definition: UnitVec.h:258
UnitVec & operator=(const UnitVec< P, S2 > &u)
Copy assignment from a UnitVec whose stride differs from this one; no normalization required...
Definition: UnitVec.h:113
UnitRow< P, 1 > abs() const
Return a new UnitRow whose measure numbers are the absolute values of the ones here.
Definition: UnitVec.h:294
UnitVec(const CoordinateDirection &dir)
Implicit conversion from a coordinate axis direction to a UnitVec3. The axis direction is given by on...
Definition: UnitVec.h:97
Vec & operator=(const Vec &src)
Copy assignment operator copies the logically-included elements from the source Vec; gaps due to stri...
Definition: Vec.h:443
UnitRow< P, S > TransposeType
Definition: UnitVec.h:60
UnitVec(const Vec< 3, RealP, S2 > &v, bool)
(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized ve...
Definition: UnitVec.h:169
UnitRow< P, 1 > negate() const
Returns a new unit vector pointing in the opposite direction from this one; does not modify this Unit...
Definition: UnitVec.h:265
const RealP & operator()(int i) const
Return one element of this unit vector as a const reference; there is no corresponding writable index...
Definition: UnitVec.h:147
UnitVec< float, 1 > fUnitVec3
Definition: UnitVec.h:45
UnitRow< P, 1 > perp() const
Return a new UnitRow perpendicular to this one but otherwise arbitrary.
Definition: UnitVec.h:321
float norm(const conjugate< float > &c)
Definition: conjugate.h:775
This file is the user-includeable header to be included in user programs to provide fixed-length Vec ...
TransposeType & operator~()
Return a writable reference to this unit vector re-expressed as a unit row; no computational cost...
Definition: UnitVec.h:135
This is a fixed-length row vector designed for no-overhead inline computation.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606
UnitVec< P, 1 > negate() const
Returns a new unit vector pointing in the opposite direction from this one; does not modify this Unit...
Definition: UnitVec.h:125
int getDirection() const
Returns 1 or -1 to indicate the direction along the coordinate axis returned by getAxis().
Definition: CoordinateAxis.h:277
CNT< ScalarNormSq >::TSqrt norm() const
Definition: Vec.h:608
UnitVec & operator=(const UnitVec &u)
Copy assignment does not require normalization.
Definition: UnitVec.h:107
UnitVec(const BaseVec &v)
Explicit conversion from Vec to UnitVec, requiring expensive normalization.
Definition: UnitVec.h:77
UnitVec< P, S > TransposeType
Definition: UnitVec.h:216
UnitVec(const BaseVec &v, bool)
(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized ve...
Definition: UnitVec.h:164
This type is used for the transpose of UnitVec, and as the returned row type of a Rotation...
Definition: UnitVec.h:41
UnitRow< P, 1 > operator-() const
Returns a new unit vector pointing in the opposite direction from this one.
Definition: UnitVec.h:268
Row< 3, P, S > BaseRow
Definition: UnitVec.h:215
UnitRow(const UnitRow< P, S2 > &u)
Implicit conversion from UnitRow with different stride; no normalization required.
Definition: UnitVec.h:226
const TransposeType & operator~() const
Return a const reference to this UnitRow reinterpreted as a UnitVec; no computation requires since th...
Definition: UnitVec.h:272
UnitVec(const UnitVec< P, S2 > &u)
Automatic conversion from UnitVec with different stride; no computation required. ...
Definition: UnitVec.h:73
UnitRow(const BaseRow &v, bool)
(Advanced) This constructor is only for our friends whom we trust to give us an already-normalized ve...
Definition: UnitVec.h:304